#!/bin/sh
#
# @name BabyShark VTOL
#
# @type Standard VTOL
# @class VTOL
#
# @maintainer Silvan Fuhrer <silvan@auterion.com>
#
# @output MAIN1 Ailerons
# @output MAIN2 A-tail left
# @output MAIN3 Pusher motor
# @output MAIN4 A-tail right
# @output MAIN5 motor 1
# @output MAIN6 motor 2
# @output MAIN7 motor 3
# @output MAIN8 motor 4
#
# @board px4_fmu-v2 exclude
# @board intel_aerofc-v1 exclude
# @board bitcraze_crazyflie exclude
#

. ${R}etc/init.d/rc.vtol_defaults

if [ $AUTOCNF = yes ]
then

	param set BAT_N_CELLS 6

	param set FW_AIRSPD_MAX   30
	param set FW_AIRSPD_MIN   19
	param set FW_AIRSPD_TRIM  23
	param set FW_L1_R_SLEW_MAX 40
	param set FW_LND_EARLYCFG 1
	param set FW_MAN_P_MAX	30
	param set FW_PR_I	0.1
	param set FW_PSP_OFF	3
	param set FW_P_LIM_MAX 18
	param set FW_P_LIM_MIN -25
	param set FW_RLL_TO_YAW_FF	0.1
	param set FW_RR_I	0.1
	param set FW_RR_P	0.08
	param set FW_R_LIM 45
	param set FW_R_RMAX	50
	param set FW_THR_CRUISE 0.65
	param set FW_THR_MIN 0.3
	param set FW_THR_SLEW_MAX 0.6
	param set FW_T_HRATE_FF 0
	param set FW_T_SINK_MAX	15
	param set FW_T_SINK_MIN	3
	param set FW_T_THRO_CONST	6
	param set FW_T_TIME_CONST	6
	param set FW_YR_I	0.1
	param set FW_YR_P	0.15

	param set IMU_GYRO_CUTOFF 40

	param set IMU_DGYRO_CUTOFF 15
	param set MC_PITCHRATE_I	0.2
	param set MC_PITCHRATE_MAX 60
	param set MC_ROLLRATE_I	0.2
	param set MC_ROLLRATE_MAX 60
	param set MC_YAWRATE_I 0.15
	param set MC_YAWRATE_MAX 40
	param set MC_YAWRATE_P 0.3

	param set MIS_TAKEOFF_ALT	30

	param set MPC_ACC_DOWN_MAX	2
	param set MPC_ACC_HOR_MAX	2
	param set MPC_ACC_UP_MAX	3
	param set MC_AIRMODE 1
	param set MPC_JERK_AUTO	4
	param set MPC_LAND_SPEED 1
	param set MPC_MAN_TILT_MAX 25
	param set MPC_MAN_Y_MAX 40
	param set MPC_POS_MODE 3
	param set MPC_SPOOLUP_TIME 1.5
	param set MPC_THR_HOVER 0.45
	param set MPC_TILTMAX_AIR 25
	param set MPC_TKO_RAMP_T 1.8
	param set MPC_TKO_SPEED	1
	param set MPC_VEL_MANUAL 3
	param set MPC_XY_CRUISE 3
	param set MPC_XY_VEL_MAX 3.5
	param set MPC_YAWRAUTO_MAX 40
	param set MPC_Z_VEL_MAX_DN 1.5
	param set MPC_Z_VEL_MAX_UP 2

	param set NAV_ACC_RAD	3

	param set PWM_MAIN_DIS3 1000
	param set PWM_MAIN_MIN3 1120
	param set PWM_MIN 950

	param set SENS_BOARD_ROT 4

	param set VT_ARSP_BLEND 10
	param set VT_ARSP_TRANS 21
	param set VT_B_DEC_MSS 1.5
	param set VT_B_TRANS_DUR 12
	param set VT_ELEV_MC_LOCK 0
	param set VT_FWD_THRUST_SC 1.2
	param set VT_FW_MOT_OFFID 5678
	param set VT_F_TR_OL_TM 8
	param set VT_IDLE_PWM_MC 1000
	param set VT_MOT_ID 5678
	param set VT_PSHER_RMP_DT 2
	param set VT_TRANS_MIN_TM 4
	param set VT_TYPE 2

fi

set MAV_TYPE 22

set MIXER babyshark
set MIXER_AUX pass

set PWM_OUT 5678
